Nonlinear Model Predictive Control approach in design of Adaptive Cruise Control with automated switching to cruise control

被引：76

作者：

Shakouri, Payman ^{[1
]}

Ordys, Andrzej ^{[1
]}

机构：

[1] Kingston Univ London, Sch Mech & Automot Engn, London SW15 3DW, England

来源：

CONTROL ENGINEERING PRACTICE | 2014年 / 26卷

关键词：

Vehicle dynamic; Adaptive Cruise Control; Model Predictive Control; Nonlinear Model Predictive Control; State-dependent linear model;

D O I：

10.1016/j.conengprac.2014.01.016

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the Nonlinear Model Predictive Control (NMPC) is used in designing of Adaptive Cruise Control (ACC) and Cruise Control (CC) systems. An algorithm is proposed to carry out automatic switching between ACC and CC, depending on the situation in front of the vehicle. Also, an algorithm based on MPC equation is devised to obtain the prediction of future reference trajectories corresponding to desired speed and distance. NMPC equation used in this paper is developed based on state-dependent representation of linear models corresponding to the modes of the operation: accelerating-throttle is active and braking-brake is active. The developed automated ACC system is tested in simulation against different scenarios proving good performance of the system. Furthermore, the results of proposed control algorithm based on NMPC methods are compared with a different ACC structure. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：160 / 177

页数：18

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